Abstract
The groundbreaking running performances of RHex-like robots are analyzed from the perspective of their leg designs. In particular, two-segment-leg models are used both for studying the running with the legs currently employed and for suggesting new leg designs that could improve the gait stability, running efficiency and forward speed. New curved compliant monolithic legs are fabricated from these models, and the running with these legs is tested by using a newly designed running test robot. Both the simulations and the experimental trials seem to suggest that running with legs with unity-ratio of the leg segments is faster and more efficient than running with the leg that is currently used on the RHex-like robots. The simulation model predictions seem to match closely to experimental trials in some instances but not always. In the future, a more sophisticated model is needed to capture the actual running with curved legs more accurately.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Blickhan, R.: The spring mass model for running and hopping. Journal of Biomechanics 22, 1217–1227 (1989)
Blickhan, R., Seyfarth, A., Geyer, H., Grimmer, S., Wagner, H., Gunther, M.: Intelligence by mechanics. Philosophical Transactions of the Royal Society London, Series A (Mathematical, Physical and Engineering Sciences) 365, 199–220 (2007)
Galloway, K.C.: Passive variable compliance for dynamic legged robots. Ph.D. thesis (2010)
Galloway, K.C., Clark, J.E., Koditschek, D.E.: Design of a tunable stiffness composite leg for dynamic locomotion. In: Proc. ASME IDETC/CIE (2009)
Hyon, S.H., Mita, T.: Development of a biologically inspired hopping robot - kenken. In: Proceedings of IEEE International Conference on Robotics and Automation (2002)
Jun, J.Y., Clark, J.E.: Dynamic stability of variable stiffness running. In: Proceedings of IEEE International Conference on Robotics and Automation (2009)
Jun, J.Y., Clark, J.E.: Effect of rolling on running performance. In: Proceedings of IEEE International Conference on Robotics and Automation (2011) (submitted)
Kim, S., Clark, J.E., Cutkosky, M.R.: isprawl: design and tuning for high-speed autonomous open-loop running. International Journal of Robotics Research 25, 903–912 (2006)
Komsuoglu, H.: Towards a comprehensive infrastructure for construction of modular and extensible robotic systems. Tech. rep., Dept. of Computer and Information Science, University of Pennsylvania (2007)
Raibert, M.: Bigdog, the rough-terrain quadruped robot. In: The International Federation of Automatic Control (2008)
Rummel, J., Seyfarth, A.: Stable running with segmented legs. International Journal of Robotics Research 27, 919–934 (2008)
Saranli, U., Buehler, M., Koditschek, D.E.: Rhex: A simple and highly mobile hexapod robot. International Journal of Robotics Research 20, 616–631 (2001)
Whittington, B.R., Thelen, D.G.: A simple mass-spring model with roller feet can induce the ground reactions observed in human walking. Journal of Biomechanical Engineering-Transactions of the Asme 131 (2009)
Zhang, Z.G., Kimura, H.: Rush: a simple and autonomous quadruped running robot. Proceedings of the Institution of Mechanical Engineers, Part I (Journal of Systems and Control Engineering) 223, 323–336 (2009)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer-Verlag GmbH Berlin Heidelberg
About this chapter
Cite this chapter
Jun, J.Y., Haldane, D., Clark, J.E. (2014). Compliant Leg Shape, Reduced-Order Models and Dynamic Running. In: Khatib, O., Kumar, V., Sukhatme, G. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 79. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-28572-1_52
Download citation
DOI: https://doi.org/10.1007/978-3-642-28572-1_52
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-28571-4
Online ISBN: 978-3-642-28572-1
eBook Packages: EngineeringEngineering (R0)